THE CAPABILITY MAP: A TOOL TO ANALYZE ROBOT ARM WORKSPACES

2013 ◽  
Vol 10 (04) ◽  
pp. 1350031 ◽  
Author(s):  
FRANZISKA ZACHARIAS ◽  
CHRISTOPH BORST ◽  
SEBASTIAN WOLF ◽  
GERD HIRZINGER
Keyword(s):  
Industrial Robot ◽  
Humanoid Robots ◽  
Design Phase ◽  
Robot Arm ◽  
Robot System ◽  
Complex Tasks ◽  
Robot Arms ◽  
Cooperative Tasks ◽  
Robot Systems ◽  
The Individual

More and more systems are developed that include several robot arms, like humanoid robots or industrial robot systems. These systems are designed for complex tasks to be solved in cooperation by the robot arms. However, the capabilities of the individual robot arms to perform given tasks or the suitability of a multi-robot system for cooperative tasks cannot be intuitively comprehended. For planning complex tasks or designing robot systems, a representation of a robot arm's workspace is needed that allows to determine from which directions objects in the workspace can be reached. In this paper, the capability map is presented. It is a representation of a robot arm's kinematic capabilities in its workspace. The capability map is used to compare existing robot arms, to support the design phase of an anthropomorphic robot arm and to enable robot workcell planning.

Fast and Robust Vision System for Shogi Robot

2015 ◽  
Vol 27 (2) ◽  
pp. 182-190
Author(s):  
Gou Koutaki ◽  
◽  
Keiichi Uchimura
Keyword(s):  
Image Processing ◽  
Vision System ◽  
Low Cost ◽  
Robot Arm ◽  
Image Processing Algorithm ◽  
Robot System ◽  
Cost System ◽  
Robot Systems ◽  
Web Camera ◽  
Lower Frame

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270002/08.jpg"" width=""150"" />Developed shogi robot system</div> The authors developed a low-cost, safety shogi robot system. A Web camera installed on the lower frame is used to recognize pieces and their positions on the board, after which the game program is played. A robot arm moves a selected piece to the position used in playing a human player. A fast, robust image processing algorithm is needed because a low-cost wide-angle Web camera and robot are used. The authors describe image processing and robot systems, then discuss experiments conducted to verify the feasibility of the proposal, showing that even a low-cost system can be highly reliable. </span>

Fuzzy coordination through measure information sharing of multi-robot system: A case study

2021 ◽  
pp. 1-8
Author(s):  
Xuefeng Dai ◽  
Jiazhi Wang ◽  
Dahui Li ◽  
Yanchun Wang
Keyword(s):  
Robot System ◽  
Fuzzy Membership Functions ◽  
System A ◽  
Parameter Update Law ◽  
Robot Systems ◽  
Potential Applications ◽  
The Individual ◽  
Logic Reasoning ◽  
Multi Robot

Multi-robot systems have many potential applications; however, the available results for coordination were based on qualitative information. Fuzzy logic reasoning has a feature of human being thinking, so a novel coordinated algorithm is proposed. The algorithm utilizes sharing sensing information of rooms and semantic robots to coordinating robots in a structured environment exploration. The approach divides all teammate robots into two classes according to robot exploration performance, and divides rooms into large, medium and small ones according to estimations of the individual areas. On the purpose of minimizing exploration time of the system, the reasoning coordination assigns large room to good performance robot, and vice versa. A parameter update law is introduced for fuzzy membership functions. Finally, the results are validated by computer simulations for a structured environment.

scholarly journals Evaluating the use of human aware navigation in industrial robot arms

2021 ◽  
Vol 12 (1) ◽  
pp. 379-391
Author(s):  
Matthew Story ◽  
Cyril Jaksic ◽  
Sarah R. Fletcher ◽  
Philip Webb ◽  
Gilbert Tang ◽  
...  
Keyword(s):  
Science Fiction ◽  
Mobile Robotics ◽  
Industrial Robot ◽  
Lessons Learned ◽  
Human Robot Interaction ◽  
Industrial Robots ◽  
Robot Arm ◽  
Robot Arms ◽  
Safety Guidelines ◽  
Current Standards

Abstract Although the principles followed by modern standards for interaction between humans and robots follow the First Law of Robotics popularized in science fiction in the 1960s, the current standards regulating the interaction between humans and robots emphasize the importance of physical safety. However, they are less developed in another key dimension: psychological safety. As sales of industrial robots have been increasing over recent years, so has the frequency of human–robot interaction (HRI). The present article looks at the current safety guidelines for HRI in an industrial setting and assesses their suitability. This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics. This article highlights limitations in current research, where the relationships established in mobile robotics have not been carried over to industrial robot arms. To understand this, it is necessary to focus less on how a robot arm avoids humans and more on how humans react when a robot is within the same space. Currently, the safety guidelines are behind the technological advance, however, with further studies aimed at understanding HRI and applying it to newly developed path finding and obstacle avoidance methods, science fiction can become science fact.

scholarly journals Reaction Null Space of a multibody system with applications in robotics

2013 ◽  
Vol 4 (1) ◽  
pp. 97-112 ◽  
Author(s):  
D. N. Nenchev
Keyword(s):  
Null Space ◽  
Balance Control ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Robot Systems ◽  
Fixed Base ◽  
Flexible Base ◽  
Space Formalism ◽  
Reaction Null Space ◽  
Base Disturbance

Abstract. This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

scholarly journals Trajectory Optimization of Industrial Robot Arms Using a Newly Elaborated “Whip-Lashing” Method

2020 ◽  
Vol 10 (23) ◽  
pp. 8666
Author(s):  
Rabab Benotsmane ◽  
László Dudás ◽  
György Kovács
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Robot Arm ◽  
Manufacturing Companies ◽  
Time Saving ◽  
Cycle Times ◽  
Robot Arms

The application of the Industry 4.0′s elements—e.g., industrial robots—has a key role in the efficiency improvement of manufacturing companies. In order to reduce cycle times and increase productivity, the trajectory optimization of robot arms is essential. The purpose of the study is the elaboration of a new “whip-lashing” method, which, based on the motion of a robot arm, is similar to the motion of a whip. It results in achieving the optimized trajectory of the robot arms in order to increase velocity of the robot arm’s parts, thereby minimizing motion cycle times and to utilize the torque of the joints more effectively. The efficiency of the method was confirmed by a case study, which is relating to the trajectory planning of a five-degree-of-freedom RV-2AJ manipulator arm using SolidWorks and MATLAB software applications. The robot was modelled and two trajectories were created: the original path and path investigate the effects of using the whip-lashing induced robot motion. The application of the method’s algorithm resulted in a cycle time saving of 33% compared to the original path of RV-2AJ robot arm. The main added value of the study is the elaboration and implementation of the newly elaborated “whip-lashing” method which results in minimization of torque consumed; furthermore, there was a reduction of cycle times of manipulator arms’ motion, thus increasing the productivity significantly. The efficiency of the new “whip-lashing” method was confirmed by a simulation case study.

scholarly journals QoS Control in Remote Robot Operation with Force Feedback

2021 ◽  
Author(s):  
Pingguo Huang ◽  
Yutaka Ishibashi
Keyword(s):  
Force Feedback ◽  
Industrial Robot ◽  
Force Sensor ◽  
Video Camera ◽  
Haptic Information ◽  
Robot System ◽  
Qos Control ◽  
Stabilization Control ◽  
Robot Systems

Recently, many researchers focus on studies of remote robot operation with force feedback. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of each object, the efficiency and accuracy of operation can be largely improved. However, when the haptic information such as force and/or position information is transmitted over a QoS (Quality of Service) non-guaranteed network like the Internet, QoE (Quality of Experience) and stability may seriously deteriorate. Therefore, it is important to carry out QoS control and stabilization control together to solve the problems. In this chapter, we mainly focus on QoS control. We also introduce our remote robot system with force feedback which we constructed to study QoS control and stabilization control by experiment. In the system, a user operates a remote industrial robot with a force sensor by using a local haptic interface device while monitoring the robot operation by a video camera. We handle two types of operation; operation with a single remote robot system and that between two remote robot systems. We explain several types of QoS control which we have proposed so far for remote robot operation with force feedback. Finally, we discuss the challenges and future directions of QoS control in remote robot operation with force feedback.

Teach Less Robotic System for Deburring Workpieces of Various Shapes

2015 ◽  
Vol 14 (04) ◽  
pp. 247-257 ◽  
Author(s):  
F. Leo Princely ◽  
T. Selvaraj
Keyword(s):  
Industrial Robot ◽  
Image Data ◽  
Robot System ◽  
Language Program ◽  
Shape Information ◽  
Language Programs ◽  
Circular Arcs ◽  
Robot Systems ◽  
Straight Lines ◽  
Shape Data

In the case of conventional industrial robot systems, operators have to write robot-language programs for each type of workpiece. This is an onerous task, especially when each workpiece has a different shape. In this paper, a teaching-less robot system for the finishing of two-dimensional workpieces of various shapes and thicknesses using computer vision is proposed. The robot system does not require shape information for the workpiece to be included in the CAD data or to be input by the operator. Each workpiece shape is acquired by segmenting edges into straight lines and circular arcs from the image data of the workpiece. The robot-language program for each workpiece is generated automatically from the workpiece shape data and finishing condition data. The effectiveness of the proposed method is verified by experiments using a newly developed robot system. This method provides a compact and inexpensive finishing robot system which reduces the programming timing.

scholarly journals Intrinsically Motivated Open-Ended Multi-Task Learning Using Transfer Learning to Discover Task Hierarchy

2021 ◽  
Vol 11 (3) ◽  
pp. 975
Author(s):  
Nicolas Duminy ◽  
Sao Mai Nguyen ◽  
Junshuai Zhu ◽  
Dominique Duhaut ◽  
Jerome Kerdreux
Keyword(s):  
Reinforcement Learning ◽  
Learning Process ◽  
Industrial Robot ◽  
Imitation Learning ◽  
Robot Arm ◽  
Transfer Of Knowledge ◽  
Complex Tasks ◽  
Hierarchical Reinforcement Learning ◽  
Knowledge Based ◽  
Task Oriented

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from simpler tasks, and faster by adapting the complexity of the actions to the task. We propose a task-oriented representation of complex actions, called procedures, to learn online task relationships and unbounded sequences of action primitives to control the different observables of the environment. Combining both goal-babbling with imitation learning, and active learning with transfer of knowledge based on intrinsic motivation, our algorithm self-organises its learning process. It chooses at any given time a task to focus on; and what, how, when and from whom to transfer knowledge. We show with a simulation and a real industrial robot arm, in cross-task and cross-learner transfer settings, that task composition is key to tackle highly complex tasks. Task decomposition is also efficiently transferred across different embodied learners and by active imitation, where the robot requests just a small amount of demonstrations and the adequate type of information. The robot learns and exploits task dependencies so as to learn tasks of every complexity.

DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

2010 ◽  
Vol 07 (01) ◽  
pp. 157-182 ◽  
Author(s):  
HAO GU ◽  
MARCO CECCARELLI ◽  
GIUSEPPE CARBONE
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Robot Arm ◽  
Dynamic Simulations ◽  
Suitable Combination ◽  
User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

scholarly journals Simulation and Analysis of Self-Replicating Robot Decision-Making Systems

Computers ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 9
Author(s):  
Andrew Jones ◽  
Jeremy Straub
Keyword(s):  
Lower Risk ◽  
System Construction ◽  
System Configuration ◽  
Operating Environment ◽  
Robot System ◽  
Robotic Exploration ◽  
Mission Success ◽  
Robot Systems ◽  
System Configurations

Self-replicating robot systems (SRRSs) are a new prospective paradigm for robotic exploration. They can potentially facilitate lower mission costs and enhance mission capabilities by allowing some materials, which are needed for robotic system construction, to be collected in situ and used for robot fabrication. The use of a self-replicating robot system can potentially lower risk aversion, due to the ability to potentially replenish lost or damaged robots, and may increase the likelihood of mission success. This paper proposes and compares system configurations of an SRRS. A simulation system was designed and is used to model how an SRRS performs based on its system configuration, attributes, and operating environment. Experiments were conducted using this simulation and the results are presented.

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